I built this robot off & on over several years.It has gone
through a number of iterations. It uses two 12v gearmotors to drive the 4 legs on each side separately so it can turn & go forward and back. The legs are driven on each side via a
gear train mounted to 1/4" plexiglas. The motor control is
via a Parallax BS1 microprocessor thru 4 DPDT relays. It has 2 microswitch sensors on the front for obstacle avoidance, LED's for eyes and a speaker to communicate. I used a IR sensor and a TV remote control so that I can control it by IR remote control using the Sony codes. I got the idea from a website called "Corky's Robtoz".It walks well on smooth surfaces but doesn't turn well on carpet.